CN106171651A - A kind of robot for agricultural greenhouse booth goes through transition system automatically - Google Patents

A kind of robot for agricultural greenhouse booth goes through transition system automatically Download PDF

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Publication number
CN106171651A
CN106171651A CN201610535951.8A CN201610535951A CN106171651A CN 106171651 A CN106171651 A CN 106171651A CN 201610535951 A CN201610535951 A CN 201610535951A CN 106171651 A CN106171651 A CN 106171651A
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China
Prior art keywords
track
robot
vehicle
rail
rope
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CN201610535951.8A
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CN106171651B (en
Inventor
崔泽
韩汪洋
钱东海
宋伟任
鄢旋
李昕
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14Greenhouses
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • B62D63/04Component parts or accessories
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25Greenhouse technology, e.g. cooling systems therefor

Abstract

A kind of robot for agricultural greenhouse booth goes through transition system automatically.The robot that the invention discloses the transition of a kind of agricultural greenhouse booth middle orbit vehicle goes through transition system automatically.Native system mainly includes robot, rail relayer, the track that switches tracks, robot track, standby region and control system.Described control system connects rail relayer and robot, described rail relayer includes track vehicle body, rail body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy resilience assembly, side-to-side movement, the lifting of rail body can be realized and automatically draw stretching, extension in, the described track that switches tracks is vertical with one end of robot track to join, and standby region is in the one end switching tracks track.Control system includes upper computer control system I and vehicle control syetem II, and upper computer control system I includes host computer and wireless module first, and vehicle control syetem II includes wireless module second, PLC, sensor, catalyst and thermorelay.The present invention can switch tracks by auxiliary robot automatically, and realize rail relayer automatically draw stretching, extension in, improve automaticity and the production efficiency of agricultural modernization warmhouse booth.

Description

A kind of robot for agricultural greenhouse booth goes through transition system automatically
Technical field
The present invention relates to a kind of can robot automation's system of transfer trajectory automatically, particularly a kind of agricultural greenhouse booth The robot that middle orbit vehicle switches tracks goes through transition system automatically, belongs to field of agricultural mechanical automation.
Background technology
Along with increasing rapidly of national economy, research and the application technology of agricultural increasingly come into one's own, particularly greenhouse Booth has become as an important component part of high-efficiency agriculture.An important ring during reading intelligent agriculture produces is exactly to agricultural production Some important parameters of environment detect and control, and warmhouse booth needs micro-in booth of mobile robot carry sensors See environment to detect in real time, it is ensured that plant growth state is controlled.Along with the development of agricultural modernization automatization level, to greenhouse The automatization of robot track system of booth, intelligent requirements improve the most day by day.
The track being currently used for standardization agricultural greenhouse booth mostly is parallel orbit, and mobile robot is between a plurality of track In the case of operation, need frequent handoff path.But due to narrow space, robot size is bigger, it is more difficult to realize autonomous turnover Change more track, and the transition system automation level being currently used for agricultural greenhouse be relatively low, a lot of in the case of remain a need for human assistance Robot complete rotation track, greatly reduces efficiency, is unfavorable for the development of agricultural modernization booth.Additionally, in agricultural greenhouse booth The environmental aspect such as temperature, humidity is to people and is not suitable for, and the health on people that works the most in such a case can produce impact.
Summary of the invention
Present invention aims to the deficiency of prior art, it is provided that a kind of agricultural greenhouse booth middle orbit vehicle switches tracks Robot automatically go through transition system, solve the problem that automatically switches tracks of existing agricultural greenhouse booth robot, improve agricultural big Personnel are freed from heavy severe working environment by the automatization level of canopy rail system.
For solving above-mentioned technical problem, insight of the invention is that
The robot that the present invention a kind of agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system automatically, including robot, changes Rail car, the track that switches tracks, robot track and control system.Described control system connects rail relayer and robot, described rail relayer Road is vertical with one end of robot track to join, and standby region is in the one end switching tracks track.
Described rail relayer includes that track vehicle body, rail body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy are returned Play assembly.Track vehicle body, track lifting assembly, rope folding and unfolding assembly and track accumulation of energy resilience assembly is disposed on described rail body All it is connected with rail body and track vehicle body.
Described track vehicle body includes left vehicle frame, right vehicle frame, four wheels, revolver axle, right wheel axle, main drive motor, drivings Actuating device, four wheels are attached separately on revolver axle and right wheel axle, and revolver axle and right wheel axle are attached separately to left vehicle frame, right vehicle frame On, main drive motor is connected with driving actuating device, and main drive motor engages power by driving gear inside actuating device Being delivered on right wheel axle, such rail relayer is driven by right wheel can realize motion.
Described rail body includes center moving track, center support, front moving track, front end panel, rear moving rail Road and rear bearing sheet, front end panel, center support and rear bearing sheet by welding respectively with front moving track, center moving rail Road, rear moving track connect, and fixing and left and right two parts of supporting track, front end panel and rear bearing sheet divide with center support It is not connected by hinge, and can rotate around center support.
Described track lifting assembly includes (two) left electricity cylinder, (two) right electricity cylinder, in the base of electricity cylinder and track vehicle body Vehicle frame fixing connect, the slide unit of electricity cylinder is fixing with center support to be connected, and achieves rail body and railcar by electric cylinder The connection of body.
Described rope folding and unfolding assembly includes rope folding and unfolding frame, left double flute fixed pulley, right double flute fixed pulley, cylinder, rope Retracting motor, rope retracting motor frame, reinforcing bar rope, the motor shaft of rope retracting motor is connected with cylinder, and by rope folding and unfolding Motor rack is fixed in rope folding and unfolding frame, and front double flute fixed pulley and rear double flute fixed pulley are all connected to rope folding and unfolding by bearing pin In frame, reinforcing bar rope one end is fixed on front end panel, rear bearing sheet, and one end walks around front double flute fixed pulley respectively, rear double flute is slided surely Wheel, is wrapped on cylinder, and rope folding and unfolding frame is fixedly linked with center support.
Described track accumulation of energy resilience assembly includes that energy-storaging spring, hexagonal slideway, hexagonal slide bar, resilience roller, resilience are used Raceway, energy-storaging spring is placed in hexagonal slideway, and one end props up hexagonal slideway blind end, and one end contacts with hexagonal slide bar end, Resilience roller is connected with another end bearing pin of hexagonal slide bar, and resilience raceway is separately fixed at front moving track and rear shifting The right and left of dynamic track, matches use one to one with resilience roller, and hexagonal slide bar is fixedly linked with center support.
Described control system includes upper computer control system I and vehicle control syetem II, and upper computer control system I includes Position machine and wireless module first, vehicle control syetem II includes wireless module second, PLC, sensor, catalyst and hot relay Device, PLC receives the signal from host computer through wireless module second, controls rail relayer walking, location, control after process Rail body rises, falls.The signal detected is passed to host computer, catalyst and hot relay by wireless module second by sensor Device is used for controlling main drive motor, all electricity cylinder and rope retracting motor.Described sensor includes swashing in terms of rail relayer location Ligh-ranging sensor and incremental optical encoder, laser range sensor is contained in the right-hand member of the right vehicle frame of track vehicle body, Ke Yishi The coarse positioning of existing rail relayer, incremental optical encoder is contained on rail relayer right wheel axle, by cooperating with laser range sensor Rail relayer can be realized be accurately positioned, location when both jointly carry out rail relayer traveling and dock with robot track;Track Proximity switch in terms of upset location, proximity switch is contained in the top of center support and front and back bottom side, before being respectively used to The final position location of moving track and the gathering of rear moving track and stretching process.
The present invention compared with prior art, has and the most obviously highlights substantive distinguishing features and remarkable advantage:
(1) the robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle switches tracks solves machine in agricultural greenhouse booth The problem that device people cannot independently switch tracks, improves production efficiency and the automatization level of Intelligent Greenhouse.
(2) the robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle switches tracks can realize oneself of rail relayer Dynamic gathering in is stretched, and has effectively saved space, it is simple to deposit.
Accompanying drawing explanation
Fig. 1 is that the robot that agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system schematic automatically.
Fig. 2 be the robot that agricultural greenhouse booth middle orbit vehicle switches tracks automatically go through transition system control system signal Figure.
Fig. 3 is that the robot that agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition the rail relayer structure chart of system automatically.
Fig. 4 is rail relayer right rail body construction figure.
Fig. 5 is rail relayer rope folding and unfolding assembly assumption diagram.
Fig. 6 is rail relayer track accumulation of energy resilience assembly assumption diagram.
Fig. 7 is after the rail relayer in the robot transition system automatically that agricultural greenhouse booth middle orbit vehicle switches tracks draws in Overall schematic.
Detailed description of the invention
The specific implementation process accompanying drawings of the present invention is as follows:
Embodiment one:
See Fig. 1 ~ Fig. 7, the robot that this agricultural greenhouse booth middle orbit vehicle switches tracks automatically go through transition include robot (C), Rail relayer (A), the track that switches tracks (B), robot track (D), standby region (E) and control system, described control system connects changes Rail car (A) and robot (C), described in switch tracks that track (B) is vertical with one end of robot track (D) to join, standby region (E) exists Switch tracks one end of track (B).
Embodiment two, the present embodiment is essentially identical with embodiment one, and special feature is as follows:
Described rail relayer (A) includes track vehicle body (A-1), rail body (A-2), track lifting assembly (A-3), rope folding and unfolding group Part (A-4) and track accumulation of energy resilience assembly (A-5), described rail body disposes track vehicle body (A-1), track lifting assembly (A-3), rope folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5) all with rail body (A-2) and track vehicle body (A- 1) it is connected.
The track vehicle body (A-1) of described rail relayer (A) includes left vehicle frame (19), right vehicle frame (1), (four) wheel (7), a left side Wheel shaft (13), right wheel axle (6), main drive motor (2) and driving actuating device (3), described (four) wheel (7) are attached separately to a left side On wheel shaft (13) and right wheel axle (6), revolver axle (13) and right wheel axle (6) are attached separately on left vehicle frame (19), right vehicle frame (1), main Driving motor (2) and drive actuating device (3) to be connected, accumulator (4) power, main drive motor (2) fills by driving transmission Put the gear engagement of (3) the inside to transfer power on right wheel axle (6), and then drive rail relayer motion.
The rail body (A-2) of described rail relayer (A) includes center moving track (12), center support (14), reach Dynamic track (30), front end panel (31), rear moving track (10) and rear bearing sheet (9), described front end panel (31), central supported Frame (14) and rear bearing sheet (9) by welding respectively with front moving track (30), center moving track (12), rear moving track (10) connect, fixing and left and right two parts of supporting track, front end panel (31) and rear bearing sheet (9) and center support (14) It is connected by hinge respectively, and can rotate around center support (14).
The track lifting assembly (A-3) of described rail relayer (A) includes (two) left electricity cylinder (20), (two) right electricity cylinder (28), the base of described all electricity cylinders and the vehicle frame in track vehicle body (A-1), including left vehicle frame (19) and right vehicle frame (1), fixing Connecting, the slide unit of electricity cylinder is connected by fixing with center support (14), thus achieves rail body by electricity cylinder (20,28) (A-2) with the connection of track vehicle body (A-1), and rail body (A-2) integrally lifts.
Rope folding and unfolding assembly (A-4) of described rail relayer (A) includes rope folding and unfolding frame (25), front double flute fixed pulley (23), rear double flute fixed pulley (22), cylinder (24), rope retracting motor (21), rope retracting motor frame (27) and reinforcing bar rope (26), the motor shaft of described rope retracting motor (21) is connected with cylinder (24), and is fixed by rope retracting motor frame (27) On rope folding and unfolding frame (25), front double flute fixed pulley (23) and rear double flute fixed pulley (22) are all connected to rope by bearing pin and receive Putting in frame (25), reinforcing bar rope (26) one end is fixed on front end panel (31), rear bearing sheet (9), and one end is walked around respectively
Front double flute fixed pulley (23), rear double flute fixed pulley (22), be wrapped on cylinder (24), rope folding and unfolding frame (25) and center Bracing frame (14) is fixedly linked.
Track accumulation of energy resilience assembly (A-5) of described rail relayer (A) include energy-storaging spring (18), hexagonal slideway (17), six Angle slide bar (16), resilience roller (15) and resilience raceway (11), described energy-storaging spring (18) is placed on hexagonal slideway (17) In, one end props up the blind end of hexagonal slideway (17), and one end contacts with hexagonal slide bar (16) end, resilience roller (15) and six Another end of angle slide bar (16) bearing pin is connected, and resilience raceway (11) is fixed on front moving track (30) and rear moving track (10) the right and left, matches use, hexagonal slide bar (16) and center support (14) admittedly one to one with resilience roller (15) Fixed connected.
Described control system includes upper computer control system (I) and vehicle control syetem (II), upper computer control system (I) Including host computer (I-1) and wireless module first (I-2), vehicle control syetem (II) includes that wireless module second (II-1), PLC control Device (II-2), sensor, catalyst (II-3) and thermorelay (II-4), PLC (II-2) is through wireless module second (II- 1) receive the signal from host computer (I-1), control rail relayer (A) after process and walk, position, control rail body (A-2) Rise, fall;The signal detected is passed to host computer (I-1), catalyst (II-by wireless module second (II-1) by sensor 3) and thermorelay (II-4) is used for controlling main drive motor (2), electricity cylinder (20,28) and rope retracting motor (21).
Sensor in described control system includes the laser range sensor (29) in terms of rail relayer (A) location and increment Formula optical encoder (5), laser range sensor (29) is contained in the right-hand member of track vehicle body (A-1) right vehicle frame (1), it is possible to achieve change The coarse positioning of rail car (A), incremental optical encoder (5) is contained on rail relayer right wheel axle (6), by and laser range sensor (29) cooperation can realize rail relayer (A) and is accurately positioned, both jointly carry out rail relayer (A) advance and with robot track (D) Location during docking;Proximity switch (8) in terms of orbit flip location, proximity switch (8) is separately mounted to center support (14), bottom top and front and back side, it is respectively used to front moving track (30) and the gathering of rear moving track (10) and extends across The final position location of journey.
Embodiment three:
The robot system of going through transition automatically that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks can realize by auxiliary robot (C) Automatically switch tracks.Startup system, left electricity cylinder (20) and right electricity cylinder (28) of track lifting assembly (A-3) drive center support (14) Declining, make whole rail body (A-2) decline, until docking with robot (place) track (D), robot (C) sails track into In main body (A-2), the most left electricity cylinder (20) and right electricity cylinder (28) reverse drive rail body (A-2) rise to predetermined altitude, with Rear main drive motor (2) moves towards robot (target) track (D), at laser by driving actuator drives rail relayer (A) Under the detection of distance measuring sensor (29) and incremental optical encoder (5), rail relayer (A) navigates to robot (target) track (D) position stopping, afterwards under track lifting assembly (A-3) drives, rail body (A-2) decline and with robot (target) Track (D) docks, and robot (C) rolls rail body (A-2) subsequently away from, enters robot (target) track (D), the whole work that switches tracks Complete.
Rail relayer in the robot transition system automatically that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks is permissible Realize car load draws stretching, extension automatically in.Drive at track lifting assembly (A-3) for drawing process, first rail body (A-2) in Under rise to predetermined altitude, then the rope retracting motor (21) in rope folding and unfolding assembly (A-4) start, by cylinder (24) Reinforcing bar rope (26) is tightened up in rotation, by reinforcing bar rope (26) pull and overturn fixing before moving track (30) front end panel (31) and The rear bearing sheet (9) of moving track (10) after fixing, will overturn to perpendicular at front moving track (30) and rear moving track (10) During straight position, the resilience raceway (11) being fixed on front end panel (31) and rear bearing sheet (9) connects with resilience roller (15) Touch, afterwards along with the continuation of flip-flop movement, the hexagonal slide bar (16) that resilience raceway (11) will be connected with resilience roller (15) Push back hexagonal slideway (17), and compress energy storage spring (18), the most also ensure reinforcing bar rope (26) can tensioning always, when close to opening Pass (8) detects when being turned to precalculated position, and rope retracting motor (21) stall self-locking, rail body (A-2) completes Drawing in, car load draws process in be terminated.For the rope retracting motor (21) in stretching process, first rope folding and unfolding assembly (A-4) Start, release reinforcing bar rope (26) by the rotation of cylinder (24), under the active force provided by compress energy storage spring (18), and return Front end panel (31) and rear bearing sheet (9) that bullet raceway (11) is connected will be turned over vertical position, afterwards, front end panel (31) With rear bearing sheet (9) under gravity continue upset, when proximity switch (8) detect front moving track (30) and after moving rail When road (10) upset is to horizontal level, rope retracting motor (21) stall self-locking, rail body (A-2) completes to stretch, and car load is stretched Exhibition process terminates, whole during reinforcing bar rope (26) keep tension.
The robot that agricultural greenhouse booth middle orbit vehicle of the present invention switches tracks automatically go through transition system operationally, first change Rail car (A) moves to robot (place) track (D) position from standby region (E), and the rail body drawn in subsequently (A-2) stretches And decline until docking with robot (place) track (D), robot (C) moves to the rail body (A-of rail relayer (A) afterwards 2) on, then rail body (A-2) rises to predetermined altitude, and rail relayer (A) moves towards robot (target) track (D) subsequently, After rail relayer (A) navigates to robot (target) track (D) position and stops, rail body (A-2) declines and and robot (target) track (D) docks, and robot (C) rolls rail body (A-2) therewith away from, enters robot (target) track (D), track Main body (A-2) rises to predetermined altitude therewith and draws in, and rail relayer (A) moves to standby region (E) in case reusing, once Complete robot switches tracks end-of-job.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention.All essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (9)

1. the robot that an agricultural greenhouse booth middle orbit vehicle switches tracks goes through transition system automatically, it is characterised in that: include machine Device people (C), rail relayer (A), the track that switches tracks (B), robot track (D) and control system, described control system connects rail relayer And robot (C) (A), described in switch tracks that track (B) is vertical with one end of robot track (D) to join, standby region (E) is switching tracks The one end in track (B).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 1 switches tracks goes through transition system automatically, its It is characterised by: described rail relayer (A) includes track vehicle body (A-1), rail body (A-2), track lifting assembly (A-3), rope Folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5), described rail body disposes track vehicle body (A-1), and track lifts Assembly (A-3), rope folding and unfolding assembly (A-4) and track accumulation of energy resilience assembly (A-5) all with rail body (A-2) and track vehicle body (A-1) it is connected.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its Be characterised by: described track vehicle body (A-1) include left vehicle frame (19), right vehicle frame (1), (four) wheel (7), revolver axle (13), Right wheel axle (6), main drive motor (2) and driving actuating device (3), described (four) wheel (7) are attached separately to revolver axle (13) With on right wheel axle (6), revolver axle (13) and right wheel axle (6) are attached separately on left vehicle frame (19), right vehicle frame (1), main drive motor (2) being connected with driving actuating device (3), accumulator (4) power, main drive motor (2) is by driving actuating device (3) the inside Gear engagement transfers power on right wheel axle (6), and then drives rail relayer motion.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its Be characterised by: described rail body (A-2) include center moving track (12), center support (14), front moving track (30), Front end panel (31), rear moving track (10) and rear bearing sheet (9), described front end panel (31), center support (14) and after Gripper shoe (9) is connected with front moving track (30), center moving track (12), rear moving track (10) respectively by welding, Gu Left and right two parts of fixed also supporting track, front end panel (31) and rear bearing sheet (9) and center support (14) are respectively by hinge It is connected, and can rotate around center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its It is characterised by: described track lifting assembly (A-3) includes (two) left electricity cylinder (20), (two) right electricity cylinder (28), described all The base of electricity cylinder and the vehicle frame in track vehicle body (A-1), including left vehicle frame (19) and right vehicle frame (1), fixing connection, the cunning of electricity cylinder Platform is connected by fixing with center support (14), thus achieves rail body (A-2) and railcar by electricity cylinder (20,28) The connection of body (A-1), and rail body (A-2) integrally lifts.
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its It is characterised by: described rope folding and unfolding assembly (A-4) includes that rope folding and unfolding frame (25), front double flute fixed pulley (23), rear double flute are fixed Pulley (22), cylinder (24), rope retracting motor (21), rope retracting motor frame (27) and reinforcing bar rope (26), described rope is received The motor shaft of Electrical Discharge Machine (21) is connected with cylinder (24), and is fixed on rope folding and unfolding frame by rope retracting motor frame (27) (25), on, front double flute fixed pulley (23) and rear double flute fixed pulley (22) are all connected on rope folding and unfolding frame (25) by bearing pin, Reinforcing bar rope (26) one end is fixed on front end panel (31), rear bearing sheet (9), one end walk around respectively front double flute fixed pulley (23), after Double flute fixed pulley (22), is wrapped on cylinder (24), and rope folding and unfolding frame (25) is fixedly linked with center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 2 switches tracks goes through transition system automatically, its Be characterised by: described track accumulation of energy resilience assembly (A-5) include energy-storaging spring (18), hexagonal slideway (17), hexagonal slide bar (16), Resilience roller (15) and resilience raceway (11), described energy-storaging spring (18) is placed in hexagonal slideway (17), and one end props up The blind end of hexagonal slideway (17), one end contacts with hexagonal slide bar (16) end, resilience roller (15) and hexagonal slide bar (16) Another end be connected with bearing pin, resilience raceway (11) is separately fixed at front moving track (30) and rear moving track (10) The right and left, matches use one to one with resilience roller (15), and hexagonal slide bar (16) is fixedly linked with center support (14).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 1 switches tracks goes through transition system automatically, its Be characterised by: described control system include upper computer control system () and vehicle control syetem (), upper computer control system () Including host computer (-1) and wireless module first (-2), vehicle control syetem () include wireless module second (-1), PLC (-2), sensor, catalyst (-3) and thermorelay (-4), PLC (-2) through wireless module second (-1) receive To from host computer (-1) signal, controls rail relayer (A) and walks, positions, control rail body (A-2) and rise, drop after process Under;Sensor by the signal that detects by wireless module second (-1) pass to host computer (-1), catalyst (-3) and hot relay Device (-4) it is used for controlling main drive motor (2), all electricity cylinder (20,28) and rope retracting motor (21).
The robot that agricultural greenhouse booth middle orbit vehicle the most according to claim 8 switches tracks goes through transition system automatically, its It is characterised by: described sensor includes the laser range sensor (29) in terms of rail relayer (A) location and incremental optical coding Device (5), laser range sensor (29) is contained in the right-hand member of track vehicle body (A-1) right vehicle frame (1), it is possible to achieve rail relayer (A) Coarse positioning, incremental optical encoder (5) is contained on rail relayer right wheel axle (6), by cooperating with laser range sensor (29) Can realize rail relayer (A) to be accurately positioned, both are carried out when rail relayer (A) is advanced and docks with robot track (D) jointly Location;Proximity switch (8) in terms of orbit flip location, proximity switch (8) is separately mounted to the top of center support (14) Front and back bottom side, it is respectively used to front moving track (30) and the gathering of rear moving track (10) and the stop bit of stretching process Put location.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107711782A (en) * 2017-09-26 2018-02-23 江苏大学 A kind of monorail for agricultural greenhouse greenhouse switches tracks system
CN108323303A (en) * 2018-02-02 2018-07-27 昆明理工大学 A kind of greenhouse Radix Notoginseng work facility
CN112720508A (en) * 2021-04-02 2021-04-30 南京艾格慧元农业科技有限公司 Vegetable greenhouse robot control method

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